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<div class="title">octree_search.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
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<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_OCTREE_SEARCH_IMPL_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_OCTREE_SEARCH_IMPL_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;assert.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#afb43baee48b83316cce5d4003561aabb">   46</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#afb43baee48b83316cce5d4003561aabb">pcl::octree::OctreePointCloudSearch&lt;PointT, LeafContainerT, BranchContainerT&gt;::voxelSearch</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point,</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;                                                                          std::vector&lt;int&gt;&amp; point_idx_data)</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  assert (isFinite (point) &amp;&amp; <span class="stringliteral">&quot;Invalid (NaN, Inf) point coordinates given to nearestKSearch!&quot;</span>);</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> key;</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keywordtype">bool</span> b_success = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="comment">// generate key</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  this-&gt;genOctreeKeyforPoint (point, key);</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  LeafContainerT* leaf = this-&gt;findLeaf (key);</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="keywordflow">if</span> (leaf)</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  {</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    (*leaf).getPointIndices (point_idx_data);</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    b_success = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  }</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keywordflow">return</span> (b_success);</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;}</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a69d3bb3040880d640a84361618964c1b">   69</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#afb43baee48b83316cce5d4003561aabb">pcl::octree::OctreePointCloudSearch&lt;PointT, LeafContainerT, BranchContainerT&gt;::voxelSearch</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> index,</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;                                                                          std::vector&lt;int&gt;&amp; point_idx_data)</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;{</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> search_point = this-&gt;getPointByIndex (index);</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="keywordflow">return</span> (this-&gt;voxelSearch (search_point, point_idx_data));</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;}</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#aa631ebe91256e5e62d092eab41e63ab1">   78</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a21d3818a5a56eef093a0f556b3b1ff60">pcl::octree::OctreePointCloudSearch&lt;PointT, LeafContainerT, BranchContainerT&gt;::nearestKSearch</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;p_q, <span class="keywordtype">int</span> k,</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;                                                                             std::vector&lt;int&gt; &amp;k_indices,</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;                                                                             std::vector&lt;float&gt; &amp;k_sqr_distances)</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;{</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  assert(this-&gt;leaf_count_&gt;0);</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  assert (isFinite (p_q) &amp;&amp; <span class="stringliteral">&quot;Invalid (NaN, Inf) point coordinates given to nearestKSearch!&quot;</span>);</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  k_indices.clear ();</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  k_sqr_distances.clear ();</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keywordflow">if</span> (k &lt; 1)</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> result_count;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_point_queue_entry.html">prioPointQueueEntry</a> point_entry;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  std::vector&lt;prioPointQueueEntry&gt; point_candidates;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> key;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  key.x = key.y = key.z = 0;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  <span class="comment">// initalize smallest point distance in search with high value</span></div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="keywordtype">double</span> smallest_dist = std::numeric_limits&lt;double&gt;::max ();</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  getKNearestNeighborRecursive (p_q, k, this-&gt;root_node_, key, 1, smallest_dist, point_candidates);</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  result_count = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (point_candidates.size ());</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  k_indices.resize (result_count);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  k_sqr_distances.resize (result_count);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  <span class="keywordflow">for</span> (i = 0; i &lt; result_count; ++i)</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  {</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    k_indices [i] = point_candidates [i].point_idx_;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    k_sqr_distances [i] = point_candidates [i].point_distance_;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  }</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (k_indices.size ());</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;}</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a6c7167376eca831089b7848438ffdb82">  121</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a21d3818a5a56eef093a0f556b3b1ff60">pcl::octree::OctreePointCloudSearch&lt;PointT, LeafContainerT, BranchContainerT&gt;::nearestKSearch</a> (<span class="keywordtype">int</span> index, <span class="keywordtype">int</span> k,</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;                                                                             std::vector&lt;int&gt; &amp;k_indices,</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;                                                                             std::vector&lt;float&gt; &amp;k_sqr_distances)</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;{</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> search_point = this-&gt;getPointByIndex (index);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  <span class="keywordflow">return</span> (nearestKSearch (search_point, k, k_indices, k_sqr_distances));</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;}</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#aedaa8f43355000dbb0acc811c4b321fb">  131</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a76f66f61c1561a260c9dfd7a91bce860">pcl::octree::OctreePointCloudSearch&lt;PointT, LeafContainerT, BranchContainerT&gt;::approxNearestSearch</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;p_q,</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;                                                                                  <span class="keywordtype">int</span> &amp;result_index,</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;                                                                                  <span class="keywordtype">float</span> &amp;sqr_distance)</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;{</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  assert(this-&gt;leaf_count_&gt;0);</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  assert (isFinite (p_q) &amp;&amp; <span class="stringliteral">&quot;Invalid (NaN, Inf) point coordinates given to nearestKSearch!&quot;</span>);</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> key;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  key.x = key.y = key.z = 0;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  approxNearestSearchRecursive (p_q, this-&gt;root_node_, key, 1, result_index, sqr_distance);</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;}</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00148"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a9dbe80e71348afa35b7eea4e0d7de225">  148</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a76f66f61c1561a260c9dfd7a91bce860">pcl::octree::OctreePointCloudSearch&lt;PointT, LeafContainerT, BranchContainerT&gt;::approxNearestSearch</a> (<span class="keywordtype">int</span> query_index, <span class="keywordtype">int</span> &amp;result_index,</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;                                                                                  <span class="keywordtype">float</span> &amp;sqr_distance)</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;{</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> search_point = this-&gt;getPointByIndex (query_index);</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  <span class="keywordflow">return</span> (approxNearestSearch (search_point, result_index, sqr_distance));</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;}</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00158"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a3e8ab16c43fca6296b1c38fd5c9028b7">  158</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a2af4c4588b2b73cfcd74fb1f906f2b45">pcl::octree::OctreePointCloudSearch&lt;PointT, LeafContainerT, BranchContainerT&gt;::radiusSearch</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;p_q, <span class="keyword">const</span> <span class="keywordtype">double</span> radius,</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;                                                                           std::vector&lt;int&gt; &amp;k_indices,</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;                                                                           std::vector&lt;float&gt; &amp;k_sqr_distances,</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;                                                                           <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_nn)<span class="keyword"> const</span></div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  assert (isFinite (p_q) &amp;&amp; <span class="stringliteral">&quot;Invalid (NaN, Inf) point coordinates given to nearestKSearch!&quot;</span>);</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> key;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  key.x = key.y = key.z = 0;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  k_indices.clear ();</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  k_sqr_distances.clear ();</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  getNeighborsWithinRadiusRecursive (p_q, radius * radius, this-&gt;root_node_, key, 1, k_indices, k_sqr_distances,</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;                                     max_nn);</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (k_indices.size ()));</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;}</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00178"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#afa074a6d13e7b9399e0cb31e23da6d10">  178</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a2af4c4588b2b73cfcd74fb1f906f2b45">pcl::octree::OctreePointCloudSearch&lt;PointT, LeafContainerT, BranchContainerT&gt;::radiusSearch</a> (<span class="keywordtype">int</span> index, <span class="keyword">const</span> <span class="keywordtype">double</span> radius,</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;                                                                           std::vector&lt;int&gt; &amp;k_indices,</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;                                                                           std::vector&lt;float&gt; &amp;k_sqr_distances,</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;                                                                           <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_nn)<span class="keyword"> const</span></div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> search_point = this-&gt;getPointByIndex (index);</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  <span class="keywordflow">return</span> (radiusSearch (search_point, radius, k_indices, k_sqr_distances, max_nn));</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;}</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00190"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#abf53270d1fe0590b0d44a286119cafb5">  190</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#abf53270d1fe0590b0d44a286119cafb5">pcl::octree::OctreePointCloudSearch&lt;PointT, LeafContainerT, BranchContainerT&gt;::boxSearch</a> (<span class="keyword">const</span> Eigen::Vector3f &amp;min_pt,</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;                                                                        <span class="keyword">const</span> Eigen::Vector3f &amp;max_pt,</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;                                                                        std::vector&lt;int&gt; &amp;k_indices)<span class="keyword"> const</span></div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160; </div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> key;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  key.x = key.y = key.z = 0;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  k_indices.clear ();</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  boxSearchRecursive (min_pt, max_pt, this-&gt;root_node_, key, 1, k_indices);</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (k_indices.size ()));</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;}</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">double</span></div>
<div class="line"><a name="l00208"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a907f077b8bcf8f7b85c0f181c9ac6fd8">  208</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a907f077b8bcf8f7b85c0f181c9ac6fd8">pcl::octree::OctreePointCloudSearch&lt;PointT, LeafContainerT, BranchContainerT&gt;::getKNearestNeighborRecursive</a> (</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp; point, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> K, <span class="keyword">const</span> BranchNode* node, <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a>&amp; key, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> tree_depth,</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> squared_search_radius, std::vector&lt;prioPointQueueEntry&gt;&amp; point_candidates)<span class="keyword"> const</span></div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  std::vector&lt;prioBranchQueueEntry&gt; search_heap;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  search_heap.resize (8);</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> new_key;</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160; </div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;  <span class="keywordtype">double</span> smallest_squared_dist = squared_search_radius;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; </div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  <span class="comment">// get spatial voxel information</span></div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  <span class="keywordtype">double</span> voxelSquaredDiameter = this-&gt;getVoxelSquaredDiameter (tree_depth);</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  <span class="comment">// iterate over all children</span></div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  <span class="keywordflow">for</span> (child_idx = 0; child_idx &lt; 8; child_idx++)</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  {</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    <span class="keywordflow">if</span> (this-&gt;branchHasChild (*node, child_idx))</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    {</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;      <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> voxel_center;</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160; </div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;      search_heap[child_idx].key.x = (key.x &lt;&lt; 1) + (!!(child_idx &amp; (1 &lt;&lt; 2)));</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;      search_heap[child_idx].key.y = (key.y &lt;&lt; 1) + (!!(child_idx &amp; (1 &lt;&lt; 1)));</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;      search_heap[child_idx].key.z = (key.z &lt;&lt; 1) + (!!(child_idx &amp; (1 &lt;&lt; 0)));</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      <span class="comment">// generate voxel center point for voxel at key</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      this-&gt;genVoxelCenterFromOctreeKey (search_heap[child_idx].key, tree_depth, voxel_center);</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160; </div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;      <span class="comment">// generate new priority queue element</span></div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      search_heap[child_idx].node = this-&gt;getBranchChildPtr (*node, child_idx);</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      search_heap[child_idx].point_distance = pointSquaredDist (voxel_center, point);</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    }</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    {</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;      search_heap[child_idx].point_distance = std::numeric_limits&lt;float&gt;::infinity ();</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    }</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;  }</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160; </div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;  std::sort (search_heap.begin (), search_heap.end ());</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160; </div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;  <span class="comment">// iterate over all children in priority queue</span></div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;  <span class="comment">// check if the distance to search candidate is smaller than the best point distance (smallest_squared_dist)</span></div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  <span class="keywordflow">while</span> ((!search_heap.empty ()) &amp;&amp; (search_heap.back ().point_distance &lt;</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;         smallest_squared_dist + voxelSquaredDiameter / 4.0 + sqrt (smallest_squared_dist * voxelSquaredDiameter) - this-&gt;epsilon_))</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;  {</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a>* child_node;</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;    <span class="comment">// read from priority queue element</span></div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;    child_node = search_heap.back ().node;</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;    new_key = search_heap.back ().key;</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160; </div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;    <span class="keywordflow">if</span> (tree_depth &lt; this-&gt;octree_depth_)</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;    {</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;      <span class="comment">// we have not reached maximum tree depth</span></div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;      smallest_squared_dist = getKNearestNeighborRecursive (point, K, <span class="keyword">static_cast&lt;</span><span class="keyword">const </span>BranchNode*<span class="keyword">&gt;</span> (child_node), new_key, tree_depth + 1,</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;                                                            smallest_squared_dist, point_candidates);</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;    }</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;    {</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;      <span class="comment">// we reached leaf node level</span></div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; </div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;      <span class="keywordtype">float</span> squared_dist;</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;      <span class="keywordtype">size_t</span> i;</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;      std::vector&lt;int&gt; decoded_point_vector;</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160; </div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;      <span class="keyword">const</span> LeafNode* child_leaf = <span class="keyword">static_cast&lt;</span><span class="keyword">const </span>LeafNode*<span class="keyword">&gt;</span> (child_node);</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160; </div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;      <span class="comment">// decode leaf node into decoded_point_vector</span></div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;      (*child_leaf)-&gt;getPointIndices (decoded_point_vector);</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160; </div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;      <span class="comment">// Linearly iterate over all decoded (unsorted) points</span></div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;      <span class="keywordflow">for</span> (i = 0; i &lt; decoded_point_vector.size (); i++)</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;      {</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160; </div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;        <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; candidate_point = this-&gt;getPointByIndex (decoded_point_vector[i]);</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160; </div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;        <span class="comment">// calculate point distance to search point</span></div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;        squared_dist = pointSquaredDist (candidate_point, point);</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160; </div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;        <span class="comment">// check if a closer match is found</span></div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;        <span class="keywordflow">if</span> (squared_dist &lt; smallest_squared_dist)</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;        {</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_point_queue_entry.html">prioPointQueueEntry</a> point_entry;</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160; </div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;          point_entry.<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_point_queue_entry.html#ae6f400f8f120674cf9f7d5e6edbd4345">point_distance_</a> = squared_dist;</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;          point_entry.<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_point_queue_entry.html#a00fb485718ecaa7d7e23f90ceb2c6023">point_idx_</a> = decoded_point_vector[i];</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;          point_candidates.push_back (point_entry);</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;        }</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;      }</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160; </div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;      std::sort (point_candidates.begin (), point_candidates.end ());</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160; </div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;      <span class="keywordflow">if</span> (point_candidates.size () &gt; K)</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;        point_candidates.resize (K);</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160; </div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;      <span class="keywordflow">if</span> (point_candidates.size () == K)</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;        smallest_squared_dist = point_candidates.back ().point_distance_;</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;    }</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;    <span class="comment">// pop element from priority queue</span></div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;    search_heap.pop_back ();</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;  }</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160; </div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;  <span class="keywordflow">return</span> (smallest_squared_dist);</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;}</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160; </div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00317"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a08c976a887a568daced02c11da5c75df">  317</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a08c976a887a568daced02c11da5c75df">pcl::octree::OctreePointCloudSearch&lt;PointT, LeafContainerT, BranchContainerT&gt;::getNeighborsWithinRadiusRecursive</a> (</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;    <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp; point, <span class="keyword">const</span> <span class="keywordtype">double</span> radiusSquared, <span class="keyword">const</span> BranchNode* node, <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a>&amp; key,</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> tree_depth, std::vector&lt;int&gt;&amp; k_indices, std::vector&lt;float&gt;&amp; k_sqr_distances,</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_nn)<span class="keyword"> const</span></div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;  <span class="comment">// child iterator</span></div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx;</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160; </div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;  <span class="comment">// get spatial voxel information</span></div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;  <span class="keywordtype">double</span> voxel_squared_diameter = this-&gt;getVoxelSquaredDiameter (tree_depth);</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160; </div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;  <span class="comment">// iterate over all children</span></div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;  <span class="keywordflow">for</span> (child_idx = 0; child_idx &lt; 8; child_idx++)</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;  {</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;    <span class="keywordflow">if</span> (!this-&gt;branchHasChild (*node, child_idx))</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160; </div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;    <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a>* child_node;</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;    child_node = this-&gt;getBranchChildPtr (*node, child_idx);</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160; </div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;    <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> new_key;</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> voxel_center;</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;    <span class="keywordtype">float</span> squared_dist;</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160; </div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;    <span class="comment">// generate new key for current branch voxel</span></div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;    new_key.x = (key.x &lt;&lt; 1) + (!!(child_idx &amp; (1 &lt;&lt; 2)));</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;    new_key.y = (key.y &lt;&lt; 1) + (!!(child_idx &amp; (1 &lt;&lt; 1)));</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;    new_key.z = (key.z &lt;&lt; 1) + (!!(child_idx &amp; (1 &lt;&lt; 0)));</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160; </div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;    <span class="comment">// generate voxel center point for voxel at key</span></div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;    this-&gt;genVoxelCenterFromOctreeKey (new_key, tree_depth, voxel_center);</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160; </div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;    <span class="comment">// calculate distance to search point</span></div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;    squared_dist = pointSquaredDist (<span class="keyword">static_cast&lt;</span><span class="keyword">const </span><a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp;<span class="keyword">&gt;</span> (voxel_center), point);</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160; </div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;    <span class="comment">// if distance is smaller than search radius</span></div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;    <span class="keywordflow">if</span> (squared_dist + this-&gt;epsilon_</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;        &lt;= voxel_squared_diameter / 4.0 + radiusSquared + sqrt (voxel_squared_diameter * radiusSquared))</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;    {</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160; </div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;      <span class="keywordflow">if</span> (tree_depth &lt; this-&gt;octree_depth_)</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;      {</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;        <span class="comment">// we have not reached maximum tree depth</span></div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;        getNeighborsWithinRadiusRecursive (point, radiusSquared, <span class="keyword">static_cast&lt;</span><span class="keyword">const </span>BranchNode*<span class="keyword">&gt;</span> (child_node), new_key, tree_depth + 1,</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;                                           k_indices, k_sqr_distances, max_nn);</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;        <span class="keywordflow">if</span> (max_nn != 0 &amp;&amp; k_indices.size () == <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (max_nn))</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;          <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;      }</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;      {</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;        <span class="comment">// we reached leaf node level</span></div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160; </div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;        <span class="keywordtype">size_t</span> i;</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;        <span class="keyword">const</span> LeafNode* child_leaf = <span class="keyword">static_cast&lt;</span><span class="keyword">const </span>LeafNode*<span class="keyword">&gt;</span> (child_node);</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;        std::vector&lt;int&gt; decoded_point_vector;</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160; </div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;        <span class="comment">// decode leaf node into decoded_point_vector</span></div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;        (*child_leaf)-&gt;getPointIndices (decoded_point_vector);</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160; </div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;        <span class="comment">// Linearly iterate over all decoded (unsorted) points</span></div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;        <span class="keywordflow">for</span> (i = 0; i &lt; decoded_point_vector.size (); i++)</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;        {</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;          <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; candidate_point = this-&gt;getPointByIndex (decoded_point_vector[i]);</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160; </div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;          <span class="comment">// calculate point distance to search point</span></div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;          squared_dist = pointSquaredDist (candidate_point, point);</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160; </div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;          <span class="comment">// check if a match is found</span></div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;          <span class="keywordflow">if</span> (squared_dist &gt; radiusSquared)</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;            <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160; </div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;          <span class="comment">// add point to result vector</span></div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;          k_indices.push_back (decoded_point_vector[i]);</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;          k_sqr_distances.push_back (squared_dist);</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160; </div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;          <span class="keywordflow">if</span> (max_nn != 0 &amp;&amp; k_indices.size () == <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (max_nn))</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;            <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;        }</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;      }</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;    }</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;  }</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;}</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160; </div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00402"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a2361d272532234458d3a6a5d32fe0d01">  402</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a2361d272532234458d3a6a5d32fe0d01">pcl::octree::OctreePointCloudSearch&lt;PointT, LeafContainerT, BranchContainerT&gt;::approxNearestSearchRecursive</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp; point,</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;                                                                                           <span class="keyword">const</span> BranchNode* node,</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;                                                                                           <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a>&amp; key,</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;                                                                                           <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> tree_depth,</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;                                                                                           <span class="keywordtype">int</span>&amp; result_index,</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;                                                                                           <span class="keywordtype">float</span>&amp; sqr_distance)</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;{</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx;</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> min_child_idx;</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;  <span class="keywordtype">double</span> min_voxel_center_distance;</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160; </div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> minChildKey;</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> new_key;</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160; </div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;  <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a>* child_node;</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160; </div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;  <span class="comment">// set minimum voxel distance to maximum value</span></div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;  min_voxel_center_distance = std::numeric_limits&lt;double&gt;::max ();</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160; </div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;  min_child_idx = 0xFF;</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160; </div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;  <span class="comment">// iterate over all children</span></div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;  <span class="keywordflow">for</span> (child_idx = 0; child_idx &lt; 8; child_idx++)</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;  {</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;    <span class="keywordflow">if</span> (!this-&gt;branchHasChild (*node, child_idx))</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160; </div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> voxel_center;</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;    <span class="keywordtype">double</span> voxelPointDist;</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160; </div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;    new_key.x = (key.x &lt;&lt; 1) + (!!(child_idx &amp; (1 &lt;&lt; 2)));</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;    new_key.y = (key.y &lt;&lt; 1) + (!!(child_idx &amp; (1 &lt;&lt; 1)));</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;    new_key.z = (key.z &lt;&lt; 1) + (!!(child_idx &amp; (1 &lt;&lt; 0)));</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160; </div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;    <span class="comment">// generate voxel center point for voxel at key</span></div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;    this-&gt;genVoxelCenterFromOctreeKey (new_key, tree_depth, voxel_center);</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160; </div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;    voxelPointDist = pointSquaredDist (voxel_center, point);</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160; </div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;    <span class="comment">// search for child voxel with shortest distance to search point</span></div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;    <span class="keywordflow">if</span> (voxelPointDist &gt;= min_voxel_center_distance)</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160; </div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;    min_voxel_center_distance = voxelPointDist;</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;    min_child_idx = child_idx;</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;    minChildKey = new_key;</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;  }</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160; </div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;  <span class="comment">// make sure we found at least one branch child</span></div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;  assert(min_child_idx&lt;8);</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160; </div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;  child_node = this-&gt;getBranchChildPtr (*node, min_child_idx);</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160; </div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;  <span class="keywordflow">if</span> (tree_depth &lt; this-&gt;octree_depth_)</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;  {</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;    <span class="comment">// we have not reached maximum tree depth</span></div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;    approxNearestSearchRecursive (point, <span class="keyword">static_cast&lt;</span><span class="keyword">const </span>BranchNode*<span class="keyword">&gt;</span> (child_node), minChildKey, tree_depth + 1, result_index,</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;                                  sqr_distance);</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;  }</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;  {</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;    <span class="comment">// we reached leaf node level</span></div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160; </div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;    <span class="keywordtype">double</span> squared_dist;</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;    <span class="keywordtype">double</span> smallest_squared_dist;</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;    <span class="keywordtype">size_t</span> i;</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;    std::vector&lt;int&gt; decoded_point_vector;</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160; </div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;    <span class="keyword">const</span> LeafNode* child_leaf = <span class="keyword">static_cast&lt;</span><span class="keyword">const </span>LeafNode*<span class="keyword">&gt;</span> (child_node);</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160; </div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;    smallest_squared_dist = std::numeric_limits&lt;double&gt;::max ();</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160; </div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;    <span class="comment">// decode leaf node into decoded_point_vector</span></div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;    (**child_leaf).getPointIndices (decoded_point_vector);</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160; </div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;    <span class="comment">// Linearly iterate over all decoded (unsorted) points</span></div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;    <span class="keywordflow">for</span> (i = 0; i &lt; decoded_point_vector.size (); i++)</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;    {</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;      <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; candidate_point = this-&gt;getPointByIndex (decoded_point_vector[i]);</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160; </div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;      <span class="comment">// calculate point distance to search point</span></div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;      squared_dist = pointSquaredDist (candidate_point, point);</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160; </div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;      <span class="comment">// check if a closer match is found</span></div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;      <span class="keywordflow">if</span> (squared_dist &gt;= smallest_squared_dist)</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160; </div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;      result_index = decoded_point_vector[i];</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;      smallest_squared_dist = squared_dist;</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;      sqr_distance = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (squared_dist);</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;    }</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;  }</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;}</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160; </div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">float</span></div>
<div class="line"><a name="l00498"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a9c6a211241668de62243825b1f95e76a">  498</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a9c6a211241668de62243825b1f95e76a">pcl::octree::OctreePointCloudSearch&lt;PointT, LeafContainerT, BranchContainerT&gt;::pointSquaredDist</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp; point_a,</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;                                                                               <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp; point_b)<span class="keyword"> const</span></div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;  <span class="keywordflow">return</span> (point_a.getVector3fMap () - point_b.getVector3fMap ()).squaredNorm ();</div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;}</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160; </div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00506"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a4736506b85b403d53265661cdc637cbc">  506</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a4736506b85b403d53265661cdc637cbc">pcl::octree::OctreePointCloudSearch&lt;PointT, LeafContainerT, BranchContainerT&gt;::boxSearchRecursive</a> (<span class="keyword">const</span> Eigen::Vector3f &amp;min_pt,</div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;                                                                                 <span class="keyword">const</span> Eigen::Vector3f &amp;max_pt,</div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;                                                                                 <span class="keyword">const</span> BranchNode* node,</div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;                                                                                 <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a>&amp; key,</div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;                                                                                 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> tree_depth,</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;                                                                                 std::vector&lt;int&gt;&amp; k_indices)<span class="keyword"> const</span></div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;  <span class="comment">// child iterator</span></div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx;</div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160; </div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;  <span class="comment">// iterate over all children</span></div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;  <span class="keywordflow">for</span> (child_idx = 0; child_idx &lt; 8; child_idx++)</div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;  {</div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160; </div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;    <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a>* child_node;</div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;    child_node = this-&gt;getBranchChildPtr (*node, child_idx);</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160; </div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;    <span class="keywordflow">if</span> (!child_node)</div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160; </div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;    <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> new_key;</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;    <span class="comment">// generate new key for current branch voxel</span></div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;    new_key.x = (key.x &lt;&lt; 1) + (!!(child_idx &amp; (1 &lt;&lt; 2)));</div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;    new_key.y = (key.y &lt;&lt; 1) + (!!(child_idx &amp; (1 &lt;&lt; 1)));</div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;    new_key.z = (key.z &lt;&lt; 1) + (!!(child_idx &amp; (1 &lt;&lt; 0)));</div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160; </div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;    <span class="comment">// voxel corners</span></div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;    Eigen::Vector3f lower_voxel_corner;</div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;    Eigen::Vector3f upper_voxel_corner;</div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;    <span class="comment">// get voxel coordinates</span></div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;    this-&gt;genVoxelBoundsFromOctreeKey (new_key, tree_depth, lower_voxel_corner, upper_voxel_corner);</div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160; </div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;    <span class="comment">// test if search region overlap with voxel space</span></div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160; </div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;    <span class="keywordflow">if</span> ( !( (lower_voxel_corner (0) &gt; max_pt (0)) || (min_pt (0) &gt; upper_voxel_corner(0)) ||</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;            (lower_voxel_corner (1) &gt; max_pt (1)) || (min_pt (1) &gt; upper_voxel_corner(1)) ||</div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;            (lower_voxel_corner (2) &gt; max_pt (2)) || (min_pt (2) &gt; upper_voxel_corner(2)) ) )</div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;    {</div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160; </div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;      <span class="keywordflow">if</span> (tree_depth &lt; this-&gt;octree_depth_)</div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;      {</div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;        <span class="comment">// we have not reached maximum tree depth</span></div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;        boxSearchRecursive (min_pt, max_pt, <span class="keyword">static_cast&lt;</span><span class="keyword">const </span>BranchNode*<span class="keyword">&gt;</span> (child_node), new_key, tree_depth + 1, k_indices);</div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;      }</div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;      {</div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;        <span class="comment">// we reached leaf node level</span></div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;        <span class="keywordtype">size_t</span> i;</div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;        std::vector&lt;int&gt; decoded_point_vector;</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;        <span class="keywordtype">bool</span> bInBox;</div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160; </div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;        <span class="keyword">const</span> LeafNode* child_leaf = <span class="keyword">static_cast&lt;</span><span class="keyword">const </span>LeafNode*<span class="keyword">&gt;</span> (child_node);</div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160; </div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;        <span class="comment">// decode leaf node into decoded_point_vector</span></div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;        (**child_leaf).getPointIndices (decoded_point_vector);</div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160; </div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;        <span class="comment">// Linearly iterate over all decoded (unsorted) points</span></div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;        <span class="keywordflow">for</span> (i = 0; i &lt; decoded_point_vector.size (); i++)</div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;        {</div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;          <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; candidate_point = this-&gt;getPointByIndex (decoded_point_vector[i]);</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160; </div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;          <span class="comment">// check if point falls within search box</span></div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;          bInBox = ( (candidate_point.x &gt;= min_pt (0)) &amp;&amp; (candidate_point.x &lt;= max_pt (0)) &amp;&amp;</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;                     (candidate_point.y &gt;= min_pt (1)) &amp;&amp; (candidate_point.y &lt;= max_pt (1)) &amp;&amp;</div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;                     (candidate_point.z &gt;= min_pt (2)) &amp;&amp; (candidate_point.z &lt;= max_pt (2)) );</div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160; </div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;          <span class="keywordflow">if</span> (bInBox)</div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;            <span class="comment">// add to result vector</span></div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;            k_indices.push_back (decoded_point_vector[i]);</div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;        }</div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;      }</div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;    }</div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;  }</div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;}</div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160; </div>
<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00583"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#ae89d60007b4ba6a92e3c3dc879ab9538">  583</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#ae89d60007b4ba6a92e3c3dc879ab9538">pcl::octree::OctreePointCloudSearch&lt;PointT, LeafContainerT, BranchContainerT&gt;::getIntersectedVoxelCenters</a> (</div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;    Eigen::Vector3f origin, Eigen::Vector3f direction, AlignedPointTVector &amp;voxel_center_list,</div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;    <span class="keywordtype">int</span> max_voxel_count)<span class="keyword"> const</span></div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> key;</div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;  key.x = key.y = key.z = 0;</div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160; </div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;  voxel_center_list.clear ();</div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160; </div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;  <span class="comment">// Voxel child_idx remapping</span></div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> a = 0;</div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160; </div>
<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;  <span class="keywordtype">double</span> min_x, min_y, min_z, max_x, max_y, max_z;</div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160; </div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;  initIntersectedVoxel (origin, direction, min_x, min_y, min_z, max_x, max_y, max_z, a);</div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160; </div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;  <span class="keywordflow">if</span> (std::max (std::max (min_x, min_y), min_z) &lt; std::min (std::min (max_x, max_y), max_z))</div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;    <span class="keywordflow">return</span> getIntersectedVoxelCentersRecursive (min_x, min_y, min_z, max_x, max_y, max_z, a, this-&gt;root_node_, key,</div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;                                                voxel_center_list, max_voxel_count);</div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160; </div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;  <span class="keywordflow">return</span> (0);</div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;}</div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160; </div>
<div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00608"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a9a4587e573349759836cf8146baeb00b">  608</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a9a4587e573349759836cf8146baeb00b">pcl::octree::OctreePointCloudSearch&lt;PointT, LeafContainerT, BranchContainerT&gt;::getIntersectedVoxelIndices</a> (</div>
<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;    Eigen::Vector3f origin, Eigen::Vector3f direction, std::vector&lt;int&gt; &amp;k_indices,</div>
<div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;    <span class="keywordtype">int</span> max_voxel_count)<span class="keyword"> const</span></div>
<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> key;</div>
<div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;  key.x = key.y = key.z = 0;</div>
<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160; </div>
<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;  k_indices.clear ();</div>
<div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160; </div>
<div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;  <span class="comment">// Voxel child_idx remapping</span></div>
<div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> a = 0;</div>
<div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160;  <span class="keywordtype">double</span> min_x, min_y, min_z, max_x, max_y, max_z;</div>
<div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160; </div>
<div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;  initIntersectedVoxel (origin, direction, min_x, min_y, min_z, max_x, max_y, max_z, a);</div>
<div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160; </div>
<div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160;  <span class="keywordflow">if</span> (std::max (std::max (min_x, min_y), min_z) &lt; std::min (std::min (max_x, max_y), max_z))</div>
<div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;    <span class="keywordflow">return</span> getIntersectedVoxelIndicesRecursive (min_x, min_y, min_z, max_x, max_y, max_z, a, this-&gt;root_node_, key,</div>
<div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160;                                                k_indices, max_voxel_count);</div>
<div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;  <span class="keywordflow">return</span> (0);</div>
<div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;}</div>
<div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160; </div>
<div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00631"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a265cd3d276609bd215c98d7680976e47">  631</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a265cd3d276609bd215c98d7680976e47">pcl::octree::OctreePointCloudSearch&lt;PointT, LeafContainerT, BranchContainerT&gt;::getIntersectedVoxelCentersRecursive</a> (</div>
<div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160;    <span class="keywordtype">double</span> min_x, <span class="keywordtype">double</span> min_y, <span class="keywordtype">double</span> min_z, <span class="keywordtype">double</span> max_x, <span class="keywordtype">double</span> max_y, <span class="keywordtype">double</span> max_z, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> a,</div>
<div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;    <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a>* node, <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a>&amp; key, AlignedPointTVector &amp;voxel_center_list, <span class="keywordtype">int</span> max_voxel_count)<span class="keyword"> const</span></div>
<div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00635"></a><span class="lineno">  635</span>&#160;  <span class="keywordflow">if</span> (max_x &lt; 0.0 || max_y &lt; 0.0 || max_z &lt; 0.0)</div>
<div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;    <span class="keywordflow">return</span> (0);</div>
<div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160; </div>
<div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;  <span class="comment">// If leaf node, get voxel center and increment intersection count</span></div>
<div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160;  <span class="keywordflow">if</span> (node-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_node.html#a5b8206e9608369db7d5c21d905d03e09">getNodeType</a> () == LEAF_NODE)</div>
<div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160;  {</div>
<div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> newPoint;</div>
<div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160; </div>
<div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160;    this-&gt;genLeafNodeCenterFromOctreeKey (key, newPoint);</div>
<div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160; </div>
<div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160;    voxel_center_list.push_back (newPoint);</div>
<div class="line"><a name="l00646"></a><span class="lineno">  646</span>&#160; </div>
<div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;    <span class="keywordflow">return</span> (1);</div>
<div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160;  }</div>
<div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160; </div>
<div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;  <span class="comment">// Voxel intersection count for branches children</span></div>
<div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160;  <span class="keywordtype">int</span> voxel_count = 0;</div>
<div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160; </div>
<div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160;  <span class="comment">// Voxel mid lines</span></div>
<div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;  <span class="keywordtype">double</span> mid_x = 0.5 * (min_x + max_x);</div>
<div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160;  <span class="keywordtype">double</span> mid_y = 0.5 * (min_y + max_y);</div>
<div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160;  <span class="keywordtype">double</span> mid_z = 0.5 * (min_z + max_z);</div>
<div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160; </div>
<div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160;  <span class="comment">// First voxel node ray will intersect</span></div>
<div class="line"><a name="l00659"></a><span class="lineno">  659</span>&#160;  <span class="keywordtype">int</span> curr_node = getFirstIntersectedNode (min_x, min_y, min_z, mid_x, mid_y, mid_z);</div>
<div class="line"><a name="l00660"></a><span class="lineno">  660</span>&#160; </div>
<div class="line"><a name="l00661"></a><span class="lineno">  661</span>&#160;  <span class="comment">// Child index, node and key</span></div>
<div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx;</div>
<div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;  <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a> *child_node;</div>
<div class="line"><a name="l00664"></a><span class="lineno">  664</span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> child_key;</div>
<div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160; </div>
<div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160;  <span class="keywordflow">do</span></div>
<div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160;  {</div>
<div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160;    <span class="keywordflow">if</span> (curr_node != 0)</div>
<div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160;      child_idx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (curr_node ^ a);</div>
<div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160;      child_idx = a;</div>
<div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160; </div>
<div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160;    <span class="comment">// child_node == 0 if child_node doesn&#39;t exist</span></div>
<div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160;    child_node = this-&gt;getBranchChildPtr (<span class="keyword">static_cast&lt;</span><span class="keyword">const </span>BranchNode&amp;<span class="keyword">&gt;</span> (*node), child_idx);</div>
<div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160; </div>
<div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160;    <span class="comment">// Generate new key for current branch voxel</span></div>
<div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160;    child_key.x = (key.x &lt;&lt; 1) | (!!(child_idx &amp; (1 &lt;&lt; 2)));</div>
<div class="line"><a name="l00678"></a><span class="lineno">  678</span>&#160;    child_key.y = (key.y &lt;&lt; 1) | (!!(child_idx &amp; (1 &lt;&lt; 1)));</div>
<div class="line"><a name="l00679"></a><span class="lineno">  679</span>&#160;    child_key.z = (key.z &lt;&lt; 1) | (!!(child_idx &amp; (1 &lt;&lt; 0)));</div>
<div class="line"><a name="l00680"></a><span class="lineno">  680</span>&#160; </div>
<div class="line"><a name="l00681"></a><span class="lineno">  681</span>&#160;    <span class="comment">// Recursively call each intersected child node, selecting the next</span></div>
<div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160;    <span class="comment">//   node intersected by the ray.  Children that do not intersect will</span></div>
<div class="line"><a name="l00683"></a><span class="lineno">  683</span>&#160;    <span class="comment">//   not be traversed.</span></div>
<div class="line"><a name="l00684"></a><span class="lineno">  684</span>&#160; </div>
<div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160;    <span class="keywordflow">switch</span> (curr_node)</div>
<div class="line"><a name="l00686"></a><span class="lineno">  686</span>&#160;    {</div>
<div class="line"><a name="l00687"></a><span class="lineno">  687</span>&#160;      <span class="keywordflow">case</span> 0:</div>
<div class="line"><a name="l00688"></a><span class="lineno">  688</span>&#160;        <span class="keywordflow">if</span> (child_node)</div>
<div class="line"><a name="l00689"></a><span class="lineno">  689</span>&#160;          voxel_count += getIntersectedVoxelCentersRecursive (min_x, min_y, min_z, mid_x, mid_y, mid_z, a, child_node,</div>
<div class="line"><a name="l00690"></a><span class="lineno">  690</span>&#160;                                                             child_key, voxel_center_list, max_voxel_count);</div>
<div class="line"><a name="l00691"></a><span class="lineno">  691</span>&#160;        curr_node = getNextIntersectedNode (mid_x, mid_y, mid_z, 4, 2, 1);</div>
<div class="line"><a name="l00692"></a><span class="lineno">  692</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00693"></a><span class="lineno">  693</span>&#160; </div>
<div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160;      <span class="keywordflow">case</span> 1:</div>
<div class="line"><a name="l00695"></a><span class="lineno">  695</span>&#160;        <span class="keywordflow">if</span> (child_node)</div>
<div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160;          voxel_count += getIntersectedVoxelCentersRecursive (min_x, min_y, mid_z, mid_x, mid_y, max_z, a, child_node,</div>
<div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160;                                                             child_key, voxel_center_list, max_voxel_count);</div>
<div class="line"><a name="l00698"></a><span class="lineno">  698</span>&#160;        curr_node = getNextIntersectedNode (mid_x, mid_y, max_z, 5, 3, 8);</div>
<div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160; </div>
<div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160;      <span class="keywordflow">case</span> 2:</div>
<div class="line"><a name="l00702"></a><span class="lineno">  702</span>&#160;        <span class="keywordflow">if</span> (child_node)</div>
<div class="line"><a name="l00703"></a><span class="lineno">  703</span>&#160;          voxel_count += getIntersectedVoxelCentersRecursive (min_x, mid_y, min_z, mid_x, max_y, mid_z, a, child_node,</div>
<div class="line"><a name="l00704"></a><span class="lineno">  704</span>&#160;                                                             child_key, voxel_center_list, max_voxel_count);</div>
<div class="line"><a name="l00705"></a><span class="lineno">  705</span>&#160;        curr_node = getNextIntersectedNode (mid_x, max_y, mid_z, 6, 8, 3);</div>
<div class="line"><a name="l00706"></a><span class="lineno">  706</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00707"></a><span class="lineno">  707</span>&#160; </div>
<div class="line"><a name="l00708"></a><span class="lineno">  708</span>&#160;      <span class="keywordflow">case</span> 3:</div>
<div class="line"><a name="l00709"></a><span class="lineno">  709</span>&#160;        <span class="keywordflow">if</span> (child_node)</div>
<div class="line"><a name="l00710"></a><span class="lineno">  710</span>&#160;          voxel_count += getIntersectedVoxelCentersRecursive (min_x, mid_y, mid_z, mid_x, max_y, max_z, a, child_node,</div>
<div class="line"><a name="l00711"></a><span class="lineno">  711</span>&#160;                                                             child_key, voxel_center_list, max_voxel_count);</div>
<div class="line"><a name="l00712"></a><span class="lineno">  712</span>&#160;        curr_node = getNextIntersectedNode (mid_x, max_y, max_z, 7, 8, 8);</div>
<div class="line"><a name="l00713"></a><span class="lineno">  713</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00714"></a><span class="lineno">  714</span>&#160; </div>
<div class="line"><a name="l00715"></a><span class="lineno">  715</span>&#160;      <span class="keywordflow">case</span> 4:</div>
<div class="line"><a name="l00716"></a><span class="lineno">  716</span>&#160;        <span class="keywordflow">if</span> (child_node)</div>
<div class="line"><a name="l00717"></a><span class="lineno">  717</span>&#160;          voxel_count += getIntersectedVoxelCentersRecursive (mid_x, min_y, min_z, max_x, mid_y, mid_z, a, child_node,</div>
<div class="line"><a name="l00718"></a><span class="lineno">  718</span>&#160;                                                             child_key, voxel_center_list, max_voxel_count);</div>
<div class="line"><a name="l00719"></a><span class="lineno">  719</span>&#160;        curr_node = getNextIntersectedNode (max_x, mid_y, mid_z, 8, 6, 5);</div>
<div class="line"><a name="l00720"></a><span class="lineno">  720</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00721"></a><span class="lineno">  721</span>&#160; </div>
<div class="line"><a name="l00722"></a><span class="lineno">  722</span>&#160;      <span class="keywordflow">case</span> 5:</div>
<div class="line"><a name="l00723"></a><span class="lineno">  723</span>&#160;        <span class="keywordflow">if</span> (child_node)</div>
<div class="line"><a name="l00724"></a><span class="lineno">  724</span>&#160;          voxel_count += getIntersectedVoxelCentersRecursive (mid_x, min_y, mid_z, max_x, mid_y, max_z, a, child_node,</div>
<div class="line"><a name="l00725"></a><span class="lineno">  725</span>&#160;                                                             child_key, voxel_center_list, max_voxel_count);</div>
<div class="line"><a name="l00726"></a><span class="lineno">  726</span>&#160;        curr_node = getNextIntersectedNode (max_x, mid_y, max_z, 8, 7, 8);</div>
<div class="line"><a name="l00727"></a><span class="lineno">  727</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00728"></a><span class="lineno">  728</span>&#160; </div>
<div class="line"><a name="l00729"></a><span class="lineno">  729</span>&#160;      <span class="keywordflow">case</span> 6:</div>
<div class="line"><a name="l00730"></a><span class="lineno">  730</span>&#160;        <span class="keywordflow">if</span> (child_node)</div>
<div class="line"><a name="l00731"></a><span class="lineno">  731</span>&#160;          voxel_count += getIntersectedVoxelCentersRecursive (mid_x, mid_y, min_z, max_x, max_y, mid_z, a, child_node,</div>
<div class="line"><a name="l00732"></a><span class="lineno">  732</span>&#160;                                                             child_key, voxel_center_list, max_voxel_count);</div>
<div class="line"><a name="l00733"></a><span class="lineno">  733</span>&#160;        curr_node = getNextIntersectedNode (max_x, max_y, mid_z, 8, 8, 7);</div>
<div class="line"><a name="l00734"></a><span class="lineno">  734</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00735"></a><span class="lineno">  735</span>&#160; </div>
<div class="line"><a name="l00736"></a><span class="lineno">  736</span>&#160;      <span class="keywordflow">case</span> 7:</div>
<div class="line"><a name="l00737"></a><span class="lineno">  737</span>&#160;        <span class="keywordflow">if</span> (child_node)</div>
<div class="line"><a name="l00738"></a><span class="lineno">  738</span>&#160;          voxel_count += getIntersectedVoxelCentersRecursive (mid_x, mid_y, mid_z, max_x, max_y, max_z, a, child_node,</div>
<div class="line"><a name="l00739"></a><span class="lineno">  739</span>&#160;                                                             child_key, voxel_center_list, max_voxel_count);</div>
<div class="line"><a name="l00740"></a><span class="lineno">  740</span>&#160;        curr_node = 8;</div>
<div class="line"><a name="l00741"></a><span class="lineno">  741</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00742"></a><span class="lineno">  742</span>&#160;    }</div>
<div class="line"><a name="l00743"></a><span class="lineno">  743</span>&#160;  } <span class="keywordflow">while</span> ((curr_node &lt; 8) &amp;&amp; (max_voxel_count &lt;= 0 || voxel_count &lt; max_voxel_count));</div>
<div class="line"><a name="l00744"></a><span class="lineno">  744</span>&#160;  <span class="keywordflow">return</span> (voxel_count);</div>
<div class="line"><a name="l00745"></a><span class="lineno">  745</span>&#160;}</div>
<div class="line"><a name="l00746"></a><span class="lineno">  746</span>&#160; </div>
<div class="line"><a name="l00748"></a><span class="lineno">  748</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00749"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a722a3807b9e1ab10e7db5aeac79b001f">  749</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a722a3807b9e1ab10e7db5aeac79b001f">pcl::octree::OctreePointCloudSearch&lt;PointT, LeafContainerT, BranchContainerT&gt;::getIntersectedVoxelIndicesRecursive</a> (</div>
<div class="line"><a name="l00750"></a><span class="lineno">  750</span>&#160;    <span class="keywordtype">double</span> min_x, <span class="keywordtype">double</span> min_y, <span class="keywordtype">double</span> min_z, <span class="keywordtype">double</span> max_x, <span class="keywordtype">double</span> max_y, <span class="keywordtype">double</span> max_z, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> a,</div>
<div class="line"><a name="l00751"></a><span class="lineno">  751</span>&#160;    <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a>* node, <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a>&amp; key, std::vector&lt;int&gt; &amp;k_indices, <span class="keywordtype">int</span> max_voxel_count)<span class="keyword"> const</span></div>
<div class="line"><a name="l00752"></a><span class="lineno">  752</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00753"></a><span class="lineno">  753</span>&#160;  <span class="keywordflow">if</span> (max_x &lt; 0.0 || max_y &lt; 0.0 || max_z &lt; 0.0)</div>
<div class="line"><a name="l00754"></a><span class="lineno">  754</span>&#160;    <span class="keywordflow">return</span> (0);</div>
<div class="line"><a name="l00755"></a><span class="lineno">  755</span>&#160; </div>
<div class="line"><a name="l00756"></a><span class="lineno">  756</span>&#160;  <span class="comment">// If leaf node, get voxel center and increment intersection count</span></div>
<div class="line"><a name="l00757"></a><span class="lineno">  757</span>&#160;  <span class="keywordflow">if</span> (node-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_node.html#a5b8206e9608369db7d5c21d905d03e09">getNodeType</a> () == LEAF_NODE)</div>
<div class="line"><a name="l00758"></a><span class="lineno">  758</span>&#160;  {</div>
<div class="line"><a name="l00759"></a><span class="lineno">  759</span>&#160;    <span class="keyword">const</span> LeafNode* leaf = <span class="keyword">static_cast&lt;</span><span class="keyword">const </span>LeafNode*<span class="keyword">&gt;</span> (node);</div>
<div class="line"><a name="l00760"></a><span class="lineno">  760</span>&#160; </div>
<div class="line"><a name="l00761"></a><span class="lineno">  761</span>&#160;    <span class="comment">// decode leaf node into k_indices</span></div>
<div class="line"><a name="l00762"></a><span class="lineno">  762</span>&#160;    (*leaf)-&gt;getPointIndices (k_indices);</div>
<div class="line"><a name="l00763"></a><span class="lineno">  763</span>&#160; </div>
<div class="line"><a name="l00764"></a><span class="lineno">  764</span>&#160;    <span class="keywordflow">return</span> (1);</div>
<div class="line"><a name="l00765"></a><span class="lineno">  765</span>&#160;  }</div>
<div class="line"><a name="l00766"></a><span class="lineno">  766</span>&#160; </div>
<div class="line"><a name="l00767"></a><span class="lineno">  767</span>&#160;  <span class="comment">// Voxel intersection count for branches children</span></div>
<div class="line"><a name="l00768"></a><span class="lineno">  768</span>&#160;  <span class="keywordtype">int</span> voxel_count = 0;</div>
<div class="line"><a name="l00769"></a><span class="lineno">  769</span>&#160; </div>
<div class="line"><a name="l00770"></a><span class="lineno">  770</span>&#160;  <span class="comment">// Voxel mid lines</span></div>
<div class="line"><a name="l00771"></a><span class="lineno">  771</span>&#160;  <span class="keywordtype">double</span> mid_x = 0.5 * (min_x + max_x);</div>
<div class="line"><a name="l00772"></a><span class="lineno">  772</span>&#160;  <span class="keywordtype">double</span> mid_y = 0.5 * (min_y + max_y);</div>
<div class="line"><a name="l00773"></a><span class="lineno">  773</span>&#160;  <span class="keywordtype">double</span> mid_z = 0.5 * (min_z + max_z);</div>
<div class="line"><a name="l00774"></a><span class="lineno">  774</span>&#160; </div>
<div class="line"><a name="l00775"></a><span class="lineno">  775</span>&#160;  <span class="comment">// First voxel node ray will intersect</span></div>
<div class="line"><a name="l00776"></a><span class="lineno">  776</span>&#160;  <span class="keywordtype">int</span> curr_node = getFirstIntersectedNode (min_x, min_y, min_z, mid_x, mid_y, mid_z);</div>
<div class="line"><a name="l00777"></a><span class="lineno">  777</span>&#160; </div>
<div class="line"><a name="l00778"></a><span class="lineno">  778</span>&#160;  <span class="comment">// Child index, node and key</span></div>
<div class="line"><a name="l00779"></a><span class="lineno">  779</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx;</div>
<div class="line"><a name="l00780"></a><span class="lineno">  780</span>&#160;  <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a> *child_node;</div>
<div class="line"><a name="l00781"></a><span class="lineno">  781</span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> child_key;</div>
<div class="line"><a name="l00782"></a><span class="lineno">  782</span>&#160;  <span class="keywordflow">do</span></div>
<div class="line"><a name="l00783"></a><span class="lineno">  783</span>&#160;  {</div>
<div class="line"><a name="l00784"></a><span class="lineno">  784</span>&#160;    <span class="keywordflow">if</span> (curr_node != 0)</div>
<div class="line"><a name="l00785"></a><span class="lineno">  785</span>&#160;      child_idx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (curr_node ^ a);</div>
<div class="line"><a name="l00786"></a><span class="lineno">  786</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00787"></a><span class="lineno">  787</span>&#160;      child_idx = a;</div>
<div class="line"><a name="l00788"></a><span class="lineno">  788</span>&#160; </div>
<div class="line"><a name="l00789"></a><span class="lineno">  789</span>&#160;    <span class="comment">// child_node == 0 if child_node doesn&#39;t exist</span></div>
<div class="line"><a name="l00790"></a><span class="lineno">  790</span>&#160;    child_node = this-&gt;getBranchChildPtr (<span class="keyword">static_cast&lt;</span><span class="keyword">const </span>BranchNode&amp;<span class="keyword">&gt;</span> (*node), child_idx);</div>
<div class="line"><a name="l00791"></a><span class="lineno">  791</span>&#160;    <span class="comment">// Generate new key for current branch voxel</span></div>
<div class="line"><a name="l00792"></a><span class="lineno">  792</span>&#160;    child_key.x = (key.x &lt;&lt; 1) | (!!(child_idx &amp; (1 &lt;&lt; 2)));</div>
<div class="line"><a name="l00793"></a><span class="lineno">  793</span>&#160;    child_key.y = (key.y &lt;&lt; 1) | (!!(child_idx &amp; (1 &lt;&lt; 1)));</div>
<div class="line"><a name="l00794"></a><span class="lineno">  794</span>&#160;    child_key.z = (key.z &lt;&lt; 1) | (!!(child_idx &amp; (1 &lt;&lt; 0)));</div>
<div class="line"><a name="l00795"></a><span class="lineno">  795</span>&#160; </div>
<div class="line"><a name="l00796"></a><span class="lineno">  796</span>&#160;    <span class="comment">// Recursively call each intersected child node, selecting the next</span></div>
<div class="line"><a name="l00797"></a><span class="lineno">  797</span>&#160;    <span class="comment">//   node intersected by the ray.  Children that do not intersect will</span></div>
<div class="line"><a name="l00798"></a><span class="lineno">  798</span>&#160;    <span class="comment">//   not be traversed.</span></div>
<div class="line"><a name="l00799"></a><span class="lineno">  799</span>&#160;    <span class="keywordflow">switch</span> (curr_node)</div>
<div class="line"><a name="l00800"></a><span class="lineno">  800</span>&#160;    {</div>
<div class="line"><a name="l00801"></a><span class="lineno">  801</span>&#160;      <span class="keywordflow">case</span> 0:</div>
<div class="line"><a name="l00802"></a><span class="lineno">  802</span>&#160;        <span class="keywordflow">if</span> (child_node)</div>
<div class="line"><a name="l00803"></a><span class="lineno">  803</span>&#160;          voxel_count += getIntersectedVoxelIndicesRecursive (min_x, min_y, min_z, mid_x, mid_y, mid_z, a, child_node,</div>
<div class="line"><a name="l00804"></a><span class="lineno">  804</span>&#160;                                                             child_key, k_indices, max_voxel_count);</div>
<div class="line"><a name="l00805"></a><span class="lineno">  805</span>&#160;        curr_node = getNextIntersectedNode (mid_x, mid_y, mid_z, 4, 2, 1);</div>
<div class="line"><a name="l00806"></a><span class="lineno">  806</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00807"></a><span class="lineno">  807</span>&#160; </div>
<div class="line"><a name="l00808"></a><span class="lineno">  808</span>&#160;      <span class="keywordflow">case</span> 1:</div>
<div class="line"><a name="l00809"></a><span class="lineno">  809</span>&#160;        <span class="keywordflow">if</span> (child_node)</div>
<div class="line"><a name="l00810"></a><span class="lineno">  810</span>&#160;          voxel_count += getIntersectedVoxelIndicesRecursive (min_x, min_y, mid_z, mid_x, mid_y, max_z, a, child_node,</div>
<div class="line"><a name="l00811"></a><span class="lineno">  811</span>&#160;                                                             child_key, k_indices, max_voxel_count);</div>
<div class="line"><a name="l00812"></a><span class="lineno">  812</span>&#160;        curr_node = getNextIntersectedNode (mid_x, mid_y, max_z, 5, 3, 8);</div>
<div class="line"><a name="l00813"></a><span class="lineno">  813</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00814"></a><span class="lineno">  814</span>&#160; </div>
<div class="line"><a name="l00815"></a><span class="lineno">  815</span>&#160;      <span class="keywordflow">case</span> 2:</div>
<div class="line"><a name="l00816"></a><span class="lineno">  816</span>&#160;        <span class="keywordflow">if</span> (child_node)</div>
<div class="line"><a name="l00817"></a><span class="lineno">  817</span>&#160;          voxel_count += getIntersectedVoxelIndicesRecursive (min_x, mid_y, min_z, mid_x, max_y, mid_z, a, child_node,</div>
<div class="line"><a name="l00818"></a><span class="lineno">  818</span>&#160;                                                             child_key, k_indices, max_voxel_count);</div>
<div class="line"><a name="l00819"></a><span class="lineno">  819</span>&#160;        curr_node = getNextIntersectedNode (mid_x, max_y, mid_z, 6, 8, 3);</div>
<div class="line"><a name="l00820"></a><span class="lineno">  820</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00821"></a><span class="lineno">  821</span>&#160; </div>
<div class="line"><a name="l00822"></a><span class="lineno">  822</span>&#160;      <span class="keywordflow">case</span> 3:</div>
<div class="line"><a name="l00823"></a><span class="lineno">  823</span>&#160;        <span class="keywordflow">if</span> (child_node)</div>
<div class="line"><a name="l00824"></a><span class="lineno">  824</span>&#160;          voxel_count += getIntersectedVoxelIndicesRecursive (min_x, mid_y, mid_z, mid_x, max_y, max_z, a, child_node,</div>
<div class="line"><a name="l00825"></a><span class="lineno">  825</span>&#160;                                                             child_key, k_indices, max_voxel_count);</div>
<div class="line"><a name="l00826"></a><span class="lineno">  826</span>&#160;        curr_node = getNextIntersectedNode (mid_x, max_y, max_z, 7, 8, 8);</div>
<div class="line"><a name="l00827"></a><span class="lineno">  827</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00828"></a><span class="lineno">  828</span>&#160; </div>
<div class="line"><a name="l00829"></a><span class="lineno">  829</span>&#160;      <span class="keywordflow">case</span> 4:</div>
<div class="line"><a name="l00830"></a><span class="lineno">  830</span>&#160;        <span class="keywordflow">if</span> (child_node)</div>
<div class="line"><a name="l00831"></a><span class="lineno">  831</span>&#160;          voxel_count += getIntersectedVoxelIndicesRecursive (mid_x, min_y, min_z, max_x, mid_y, mid_z, a, child_node,</div>
<div class="line"><a name="l00832"></a><span class="lineno">  832</span>&#160;                                                             child_key, k_indices, max_voxel_count);</div>
<div class="line"><a name="l00833"></a><span class="lineno">  833</span>&#160;        curr_node = getNextIntersectedNode (max_x, mid_y, mid_z, 8, 6, 5);</div>
<div class="line"><a name="l00834"></a><span class="lineno">  834</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00835"></a><span class="lineno">  835</span>&#160; </div>
<div class="line"><a name="l00836"></a><span class="lineno">  836</span>&#160;      <span class="keywordflow">case</span> 5:</div>
<div class="line"><a name="l00837"></a><span class="lineno">  837</span>&#160;        <span class="keywordflow">if</span> (child_node)</div>
<div class="line"><a name="l00838"></a><span class="lineno">  838</span>&#160;          voxel_count += getIntersectedVoxelIndicesRecursive (mid_x, min_y, mid_z, max_x, mid_y, max_z, a, child_node,</div>
<div class="line"><a name="l00839"></a><span class="lineno">  839</span>&#160;                                                             child_key, k_indices, max_voxel_count);</div>
<div class="line"><a name="l00840"></a><span class="lineno">  840</span>&#160;        curr_node = getNextIntersectedNode (max_x, mid_y, max_z, 8, 7, 8);</div>
<div class="line"><a name="l00841"></a><span class="lineno">  841</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00842"></a><span class="lineno">  842</span>&#160; </div>
<div class="line"><a name="l00843"></a><span class="lineno">  843</span>&#160;      <span class="keywordflow">case</span> 6:</div>
<div class="line"><a name="l00844"></a><span class="lineno">  844</span>&#160;        <span class="keywordflow">if</span> (child_node)</div>
<div class="line"><a name="l00845"></a><span class="lineno">  845</span>&#160;          voxel_count += getIntersectedVoxelIndicesRecursive (mid_x, mid_y, min_z, max_x, max_y, mid_z, a, child_node,</div>
<div class="line"><a name="l00846"></a><span class="lineno">  846</span>&#160;                                                             child_key, k_indices, max_voxel_count);</div>
<div class="line"><a name="l00847"></a><span class="lineno">  847</span>&#160;        curr_node = getNextIntersectedNode (max_x, max_y, mid_z, 8, 8, 7);</div>
<div class="line"><a name="l00848"></a><span class="lineno">  848</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00849"></a><span class="lineno">  849</span>&#160; </div>
<div class="line"><a name="l00850"></a><span class="lineno">  850</span>&#160;      <span class="keywordflow">case</span> 7:</div>
<div class="line"><a name="l00851"></a><span class="lineno">  851</span>&#160;        <span class="keywordflow">if</span> (child_node)</div>
<div class="line"><a name="l00852"></a><span class="lineno">  852</span>&#160;          voxel_count += getIntersectedVoxelIndicesRecursive (mid_x, mid_y, mid_z, max_x, max_y, max_z, a, child_node,</div>
<div class="line"><a name="l00853"></a><span class="lineno">  853</span>&#160;                                                             child_key, k_indices, max_voxel_count);</div>
<div class="line"><a name="l00854"></a><span class="lineno">  854</span>&#160;        curr_node = 8;</div>
<div class="line"><a name="l00855"></a><span class="lineno">  855</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00856"></a><span class="lineno">  856</span>&#160;    }</div>
<div class="line"><a name="l00857"></a><span class="lineno">  857</span>&#160;  } <span class="keywordflow">while</span> ((curr_node &lt; 8) &amp;&amp; (max_voxel_count &lt;= 0 || voxel_count &lt; max_voxel_count));</div>
<div class="line"><a name="l00858"></a><span class="lineno">  858</span>&#160; </div>
<div class="line"><a name="l00859"></a><span class="lineno">  859</span>&#160;  <span class="keywordflow">return</span> (voxel_count);</div>
<div class="line"><a name="l00860"></a><span class="lineno">  860</span>&#160;}</div>
<div class="line"><a name="l00861"></a><span class="lineno">  861</span>&#160; </div>
<div class="line"><a name="l00862"></a><span class="lineno">  862</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_OctreePointCloudSearch(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudSearch&lt;T&gt;;</span></div>
<div class="line"><a name="l00863"></a><span class="lineno">  863</span>&#160; </div>
<div class="line"><a name="l00864"></a><span class="lineno">  864</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_OCTREE_SEARCH_IMPL_H_</span></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_key_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_key.html">pcl::octree::OctreeKey</a></div><div class="ttdoc">Octree key class</div><div class="ttdef"><b>Definition:</b> octree_key.h:52</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_node_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_node.html">pcl::octree::OctreeNode</a></div><div class="ttdoc">Abstract octree node class</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_node_html_a5b8206e9608369db7d5c21d905d03e09"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_node.html#a5b8206e9608369db7d5c21d905d03e09">pcl::octree::OctreeNode::getNodeType</a></div><div class="ttdeci">virtual node_type_t getNodeType() const =0</div><div class="ttdoc">Pure virtual method for receiving the type of octree node (branch or leaf)</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_point_queue_entry_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_point_queue_entry.html">pcl::octree::OctreePointCloudSearch::prioPointQueueEntry</a></div><div class="ttdoc">Priority queue entry for point candidates</div><div class="ttdef"><b>Definition:</b> octree_search.h:305</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_point_queue_entry_html_a00fb485718ecaa7d7e23f90ceb2c6023"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_point_queue_entry.html#a00fb485718ecaa7d7e23f90ceb2c6023">pcl::octree::OctreePointCloudSearch::prioPointQueueEntry::point_idx_</a></div><div class="ttdeci">int point_idx_</div><div class="ttdoc">Index representing a point in the dataset given by setInputCloud.</div><div class="ttdef"><b>Definition:</b> octree_search.h:333</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_point_queue_entry_html_ae6f400f8f120674cf9f7d5e6edbd4345"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search_1_1prio_point_queue_entry.html#ae6f400f8f120674cf9f7d5e6edbd4345">pcl::octree::OctreePointCloudSearch::prioPointQueueEntry::point_distance_</a></div><div class="ttdeci">float point_distance_</div><div class="ttdoc">Distance to query point.</div><div class="ttdef"><b>Definition:</b> octree_search.h:336</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_html_a08c976a887a568daced02c11da5c75df"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a08c976a887a568daced02c11da5c75df">pcl::octree::OctreePointCloudSearch::getNeighborsWithinRadiusRecursive</a></div><div class="ttdeci">void getNeighborsWithinRadiusRecursive(const PointT &amp;point, const double radiusSquared, const BranchNode *node, const OctreeKey &amp;key, unsigned int tree_depth, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_sqr_distances, unsigned int max_nn) const</div><div class="ttdoc">Recursive search method that explores the octree and finds neighbors within a given radius</div><div class="ttdef"><b>Definition:</b> octree_search.hpp:317</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_html_a21d3818a5a56eef093a0f556b3b1ff60"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a21d3818a5a56eef093a0f556b3b1ff60">pcl::octree::OctreePointCloudSearch::nearestKSearch</a></div><div class="ttdeci">int nearestKSearch(const PointCloud &amp;cloud, int index, int k, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_sqr_distances)</div><div class="ttdoc">Search for k-nearest neighbors at the query point.</div><div class="ttdef"><b>Definition:</b> octree_search.h:119</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_html_a2361d272532234458d3a6a5d32fe0d01"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a2361d272532234458d3a6a5d32fe0d01">pcl::octree::OctreePointCloudSearch::approxNearestSearchRecursive</a></div><div class="ttdeci">void approxNearestSearchRecursive(const PointT &amp;point, const BranchNode *node, const OctreeKey &amp;key, unsigned int tree_depth, int &amp;result_index, float &amp;sqr_distance)</div><div class="ttdoc">Recursive search method that explores the octree and finds the approximate nearest neighbor</div><div class="ttdef"><b>Definition:</b> octree_search.hpp:402</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_html_a265cd3d276609bd215c98d7680976e47"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a265cd3d276609bd215c98d7680976e47">pcl::octree::OctreePointCloudSearch::getIntersectedVoxelCentersRecursive</a></div><div class="ttdeci">int getIntersectedVoxelCentersRecursive(double min_x, double min_y, double min_z, double max_x, double max_y, double max_z, unsigned char a, const OctreeNode *node, const OctreeKey &amp;key, AlignedPointTVector &amp;voxel_center_list, int max_voxel_count) const</div><div class="ttdoc">Recursively search the tree for all intersected leaf nodes and return a vector of voxel centers....</div><div class="ttdef"><b>Definition:</b> octree_search.hpp:631</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_html_a2af4c4588b2b73cfcd74fb1f906f2b45"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a2af4c4588b2b73cfcd74fb1f906f2b45">pcl::octree::OctreePointCloudSearch::radiusSearch</a></div><div class="ttdeci">int radiusSearch(const PointCloud &amp;cloud, int index, double radius, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_sqr_distances, unsigned int max_nn=0)</div><div class="ttdoc">Search for all neighbors of query point that are within a given radius.</div><div class="ttdef"><b>Definition:</b> octree_search.h:189</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_html_a4736506b85b403d53265661cdc637cbc"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a4736506b85b403d53265661cdc637cbc">pcl::octree::OctreePointCloudSearch::boxSearchRecursive</a></div><div class="ttdeci">void boxSearchRecursive(const Eigen::Vector3f &amp;min_pt, const Eigen::Vector3f &amp;max_pt, const BranchNode *node, const OctreeKey &amp;key, unsigned int tree_depth, std::vector&lt; int &gt; &amp;k_indices) const</div><div class="ttdoc">Recursive search method that explores the octree and finds points within a rectangular search area</div><div class="ttdef"><b>Definition:</b> octree_search.hpp:506</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_html_a722a3807b9e1ab10e7db5aeac79b001f"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a722a3807b9e1ab10e7db5aeac79b001f">pcl::octree::OctreePointCloudSearch::getIntersectedVoxelIndicesRecursive</a></div><div class="ttdeci">int getIntersectedVoxelIndicesRecursive(double min_x, double min_y, double min_z, double max_x, double max_y, double max_z, unsigned char a, const OctreeNode *node, const OctreeKey &amp;key, std::vector&lt; int &gt; &amp;k_indices, int max_voxel_count) const</div><div class="ttdoc">Recursively search the tree for all intersected leaf nodes and return a vector of indices....</div><div class="ttdef"><b>Definition:</b> octree_search.hpp:749</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_html_a76f66f61c1561a260c9dfd7a91bce860"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a76f66f61c1561a260c9dfd7a91bce860">pcl::octree::OctreePointCloudSearch::approxNearestSearch</a></div><div class="ttdeci">void approxNearestSearch(const PointCloud &amp;cloud, int query_index, int &amp;result_index, float &amp;sqr_distance)</div><div class="ttdoc">Search for approx. nearest neighbor at the query point.</div><div class="ttdef"><b>Definition:</b> octree_search.h:156</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_html_a907f077b8bcf8f7b85c0f181c9ac6fd8"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a907f077b8bcf8f7b85c0f181c9ac6fd8">pcl::octree::OctreePointCloudSearch::getKNearestNeighborRecursive</a></div><div class="ttdeci">double getKNearestNeighborRecursive(const PointT &amp;point, unsigned int K, const BranchNode *node, const OctreeKey &amp;key, unsigned int tree_depth, const double squared_search_radius, std::vector&lt; prioPointQueueEntry &gt; &amp;point_candidates) const</div><div class="ttdoc">Recursive search method that explores the octree and finds the K nearest neighbors</div><div class="ttdef"><b>Definition:</b> octree_search.hpp:208</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_html_a9a4587e573349759836cf8146baeb00b"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a9a4587e573349759836cf8146baeb00b">pcl::octree::OctreePointCloudSearch::getIntersectedVoxelIndices</a></div><div class="ttdeci">int getIntersectedVoxelIndices(Eigen::Vector3f origin, Eigen::Vector3f direction, std::vector&lt; int &gt; &amp;k_indices, int max_voxel_count=0) const</div><div class="ttdoc">Get indices of all voxels that are intersected by a ray (origin, direction).</div><div class="ttdef"><b>Definition:</b> octree_search.hpp:608</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_html_a9c6a211241668de62243825b1f95e76a"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#a9c6a211241668de62243825b1f95e76a">pcl::octree::OctreePointCloudSearch::pointSquaredDist</a></div><div class="ttdeci">float pointSquaredDist(const PointT &amp;point_a, const PointT &amp;point_b) const</div><div class="ttdoc">Helper function to calculate the squared distance between two points</div><div class="ttdef"><b>Definition:</b> octree_search.hpp:498</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_html_abf53270d1fe0590b0d44a286119cafb5"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#abf53270d1fe0590b0d44a286119cafb5">pcl::octree::OctreePointCloudSearch::boxSearch</a></div><div class="ttdeci">int boxSearch(const Eigen::Vector3f &amp;min_pt, const Eigen::Vector3f &amp;max_pt, std::vector&lt; int &gt; &amp;k_indices) const</div><div class="ttdoc">Search for points within rectangular search area</div><div class="ttdef"><b>Definition:</b> octree_search.hpp:190</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_html_ae89d60007b4ba6a92e3c3dc879ab9538"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#ae89d60007b4ba6a92e3c3dc879ab9538">pcl::octree::OctreePointCloudSearch::getIntersectedVoxelCenters</a></div><div class="ttdeci">int getIntersectedVoxelCenters(Eigen::Vector3f origin, Eigen::Vector3f direction, AlignedPointTVector &amp;voxel_center_list, int max_voxel_count=0) const</div><div class="ttdoc">Get a PointT vector of centers of all voxels that intersected by a ray (origin, direction).</div><div class="ttdef"><b>Definition:</b> octree_search.hpp:583</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_html_afb43baee48b83316cce5d4003561aabb"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search.html#afb43baee48b83316cce5d4003561aabb">pcl::octree::OctreePointCloudSearch::voxelSearch</a></div><div class="ttdeci">bool voxelSearch(const PointT &amp;point, std::vector&lt; int &gt; &amp;point_idx_data)</div><div class="ttdoc">Search for neighbors within a voxel at given point</div><div class="ttdef"><b>Definition:</b> octree_search.hpp:46</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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